Tension actuated pressurized gas driven rotary motors

ABSTRACT

Tension actuated, pressurized gas driven rotary motors are disclosed which convert force derived from linear contraction into rotary motion including a shaft mounted in a motor support housing to rotate relative to the housing with a drive assembly, the axis of which is offset eccentrically or inclined with the respect to the axis of the shaft wherein the drive assembly is coupled to the shaft. A plurality of pressurized gas responsive tension actuators are mounted about the axis of the shaft and operably linked to the drive assembly, with a gas distribution inlet and exhaust system for successively cyclically inflating and deflating each of the tension actuators to rotate the shaft relative to the housing. In a radial configuration embodiment of the invention the tension actuators are linked to the eccentric offset drive assembly with their axes extending radially outwardly from the shaft and in an axial configuration embodiment the tension actuators are linked to the inclined offset drive assembly with their longitudinal axes extending axially relative to the shaft.

United States Patent [191 Paynter [111 13,854,383 [451 Dec. 17, 1974 1 TENSION ACTUATED PRESSURIZED GAS DRIVEN ROTARY MOTORS [75] Inventor: Henry M. Paynter, Reading, Mass.

[73] Assignee: Dynacycle Corporation, Cambridge,

1 Mass.

- 1 22 Filed: Dec. 26, 1972 211 Appl. No.: 318,432

[56] References Cited UNITED STATES PATENTS 2,809,868 10/1957 Thompson 417/269 2,918,018 12/1959 Miller 91/491 2,991,723 7/1961 Zubaty 92/48 3,410,219 11/1968 Shope 417/521 3,554,090 1/1971 Wallace 91/496 Primary ExaminerWilliam L. Freeh Attorney, Agent, or Firm-Bryan, Parmelee, Johnson & Bollinger [57] I ABSTRACT Tension actuated, pressurized gas driven rotary motors are disclosed which convert force derived from linear contraction into rotary motion including a shaft mounted in a motor support housing to rotate relative to the housing with a drive assembly, the axis of which is offset eccentrically or inclined with the respect to the axis of the shaft wherein the drive assembly is coupled to the shaft. A plurality of pressurized gas responsive tension actuators are mounted about the axis of the shaft and operably linked to the drive assembly, with a gas distribution inlet and exhaust system for successively cyclically inflating and deflating each of the tension actuators to rotate the shaft relative to the housing. In a radial configuration embodiment of the invention the tension actuators are linked to the eccentric offset drive assembly with their axes extending radially outwardly from the shaft and in an axial configuration embodiment the tension actuators are linked to the inclined offset drive assembly with their longitudinal axes extending axially relative to the shaft.

23'Claims, 12 Drawing Figures PATENTEU 1 71974 3. 854.383

sum 10F 6 M 16 ii PATENTEU ZJEEI 7 I974 SHEET 5 OF 6 PATENTE LEE] 7 I974 SHEET 80F 6 1 t TENSION ACTUATED PRESSURIZEI) GAS DRIVEN ROTARY MOTORS BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is in the field of tension actuated, air (or her gas or vapor) driven rotary motors which conver force derived from linear contraction into rotary motion. These tension actuated rotary motors may be used in many environments, havemany applications and may be used to advantage in most installations wherever it is desired to transmit power by compressed air, gas, vapor or steam to be converted into rotary motion or torque.

Air motors are generally used on industrial equipment and in manufacturing operations where a compressed air source is readily available. They provide a compact, shock proof and explosion proof, easily controllable source of rotary motion or torque. Additionally, air motors are less susceptible than many electrical motors to deterioration in corrosive and wet conditions- The tension actuated gas-driven rotary motors described below may be utilized with advantages in most of such equipment and operations.

The rotary motors embodying the present invention are energized by pressurized gas, which is usually compressed air. However, other pressurized gases, for example, such as compressed carbon dioxide or nitrogen, steam under pressure or pressurized vapor can be employed. Accordingly, as used herein the term pressurized gas or gas under pressure is intended to be construed to include compressed air, steam, vapor, or other pressurized gas or vapor. The word gas is to be interpretedto include any gas or a mixture of gases such as air, or steam'or other vapor.

In addition, it is possible to operate rotary motors embodying the present invention by having the discharge outlet from the motor operating at subatmospheric pressure, which can be accomplished by applying a suction pump or a vapor condenser to the discharge. Thus, the term pressurized gas or gas under pressure is also to be construed to include situations where the input gas being supplied to the rotary motor is at or near atmospheric pressure and the discharge outlet from the motor is at sub-atmospheric pressure, such that the input gas is pressurized or under pressure relative to the motor discharge.

The preferred embodiments of the present invention utilize pressurized gas as discussed above. It is possible for certain installations to operate these motors at low speeds by using a liquid, for example such as water or hydraulicfluid. Accordingly,: when the term pressurized fluid is used it is intended broadly to include either liquid or gas or mixtures of liquid and gas.

* 2. Description of the Prior Art The concept of a tension actuator which contracts along its longitudinal axis when inflated is known. For example, British Pat. No. 674,031 to Morin discloses a generally cylindrical-shaped actuator which includes a plurality of inextensible threads or cables with an elastic film extending between and bonded to these thread or cable elements. When inflated, the elastic film bulges out into a barrel shaped configuration (or alternatively it bulges inwardly) causing the inextensible elements to assume an arcuate configuration. This causes longitudinal contraction of the whole actuator. U.S.

movement or into longitudinal movement upon inflation. These devices shown in the Kleinwachter Patent include one or more flexible diaphragms having inelastic filaments embedded therein to impart anisotropic elasticity to the flexible diaphragm. Alternatively, the desired anisotropic elasticity is imparted to a flexible diaphragm that cannot as such be stretched by crimping, corrugating or crinkling the same. This crimped or corrugated diaphragm is then embedded in an elastically stretchable material. U.S. Pat. No. 3,645,173 to Yarlottdiscloses a fluid actuator with an axially elongated flexible thin-walled shell defining a fluid chamber and including a network of nonelastic or inextensible strands embedded in an elastomeric material. The shell is radially expandible upon inflation causing the actuator to contractin its axial direction.

Prior fluid motorsand pumps are described in U.S. Pat. Nos. 1,488,528 to Cardini; 2,122,352 to Rummel; 2,346,236 to Rose et al; 2,809,868 to Thompson; 2,889,781 to Thompson; 2,918,018

to Shope; and 3,554,090 to Wallace. Other U.S. Pats. which have been reviewed by applicant and which applicant considers to be more remote from the present I SUMMARY OF THE INVENTION In a preferred radial configuration embodiment of the invention to be described hereinbelow in'detail, the tension actuated, gas driven rotary motor includes a.

shaft mounted in a motor support housing to rotate relative to the housing, a drive assembly eccentrically linked to the shaft, a plurality of tension actuators linked to the drive assembly with their longitudinal axis extending radially outward from the shaft and a gas distribution and exhaust system for successively actuating each of the tension actuators by supplying gas under pressure thereto.

In a preferred axial configuration embodiment of the presentinvention, the drive assembly includes a swash plate disposed about the shaft with the respective axes of the plate and shaft orientedobliquely to each other.

tons and cylinders, frequently employed in conven-,

tional air motors, are enabled to be omitted.

' In prior motors which use pistons and cylinders, the piston rods and connecting rods are in compression, which means'that large cross-sectional areas of the rods must be employed to prevent; the buckling thereofunder the compressive loads. Moreover, the compressive force's create instability in tending to push wrist pin to Miller;v 2,991,723 to Zubaty; 3,014,348 to Mauch; 3,410,219 a connecting rod bearings off to one side or the other, i.e., to de-center them.

For example, in a radial piston engine a master piston rod is required, with all of the other piston rods being slave rods connected to the master rod in a connecting ring near the crankshaft. This master rod is required to prevent over-turning instability by maintaining the moving parts in correct relationship.

A fundamentally different advantageous action is provided in motors embodying the present invention by the tension actuators, because the resulting tension forces tend to maintain the rotating motor parts in the correct and stable relationship, i.e. to center them as distinct from de-centering them. In addition, the actuators being in tension enables tensioned parts of small cross-section to be employed because there is no buckling tendency.

Significant weight is also eliminated by eliminating pistons, turbines or vane rotors utilized with conventional air motors.

Motors embodying the invention provide a large power output per unit volume and a low dead-weight per unit horsepower.

Complicated lubrication systems are generally rendered unnecessary by this invention because these rotary motors do not have sliding precision-machined parts and can therefore be lubricated with simplified systems.

Among the further advantages of the tension actuated pressurized gas driven rotary motors of the invention are that they provide more efficient rotary power and consume less air than conventional air motors of corresponding power output ratings because frictional losses and air leakage are minimized. The pressurized gas driven rotary motors of the invention can be accelerated and decelerated more quickly than conventional rotary air motors of corresponding power output ratings because their components are light, compact and consequentlyinvolve less inertia and develop less momentum. The motors herein disclosed can frequently be incorporated directly into the rotary load elements, for example, they can be incorporated into the wheels of a vehicle or in the hub of a turntable, or onto the rotor of a generator.

Other objects, aspects, and advantages of the invention will be pointed out in, or will be understood from, a consideration of the detailed description provided below in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an axial sectional viewof a preferred embodiment of the present invention, namely the radial configuration, tension actuated, pressurized gas driven rotary motor.

FIG. 2 is a cross-sectional view of this motor taken through the plane 22 in FIG. 1 looking toward the left and which illustrates the operation of one bank of of tension actuators, this view being taken through the plane 4-4 in FIG. 1 looking left.

FIG. 5 is an enlarged cross-sectional view of the discharge portion of the gas distribution and exhaust system, namely the feed hub, the feed hub housing and the shaft, this view being taken through the plane 55 in FIG. 1 looking toward the left.

FIG. 6 is an enlarged cross-sectional view of the inlet portion of the gas distribution and exhaust system, namely the feed hub, the feed hub housing and the shaft, this view being taken through the plane 6-6 in FIG. 1 looking toward the left.

FIG. 7 is an enlarged perspective view of one of the eccentric distributor hubs.

FIG. 8 is an axial sectional view of a second preferred embodiment of the present invention, namely the axial configuration tension actuated, pressurized gas 'driven rotary motor.

FIG. 9 is a cross-section of this tension actuated motor taken through the plane 9-9 in FIG. 8 looking toward the left.

FIG. 10 is a cross-section of the rotor employed in this tension actuated motor taken through plane 10--10 in FIG. 8 looking toward the left.

FIG. 1 1 is a cross-section of the swash drive plate employed in this motor taken through the oblique plane 11-11 of FIG. 8 looking toward the left.

FIG. 12 is a cross sectional view of this motor showing the relative states of inflation of the axially disposed tension actuators, this view being taken through plane l2l2 of FIG. 8 looking left.

Corresponding reference numerals indicate corresponding structural elements and corresponding characteristic features in each of the respective drawings.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring now to FIGS. 1 through 7, the radial configuration, tension actuated, pressurized gas driven rotary motor 10, constructed in accordance with a preferred embodiment of the present invention includes a motor support housing 12 which forms a frame for the motor. This frame 12 includes a front mounting plate 14, a intermediate cylindrical wall body 16, and a rear end plate 18. The front mounting and rear end plates 14 and 18 are secured to the cylindrical wall body 16, by a number of mounting bolts 20, and an actuator chamber 21 is enclosed therein. The front mounting plate 14 has a diameter larger than that of the cylindrical wall body 16 and the rear end plate 18. The portion of the mounting plate 14, extending radially beyond the cylindrical wall body, defines a mounting rim 22, which is provided with several mounting holes 24. This rotary motor 10 may conveniently be mounted by bolting or otherwise attaching the rim 22, by means of the holes the motor support housing 12 extending between and through the front and rear mounting plaes l4 and 18. Antifriction bearings 28, positioned in annular recesses 30, 32 in the front mounting plate 14 and in the reara plurality, for example l pressurized gas responsive, tension actuators 36 which extend radially outwardly relative to the shaft 26. These tension actuators 36 may be constructed as'shown in US. Pat. No. 3,645,173 to Yarlott.

The outer end of each of these tension actuators terminates in a mounting element in the form of a rigid disk 38 which is provided with an outwardly extending threaded lug 40 that closes off the interior of the actuator 36. Each lug is fixed to the cylindrical wall body 16 by a nut 42, each of which is countersunk in the exterior of the body 16, thereby securing the outerend of each of the tension actuators to the motor housing. The outer ends of the ten tension actuators 36 in each bank 34 and 35 are uniformly spaced around the axis of the cylindrical wall body 16.

The inner ends (see FIGS. 3 and 4) of each of the tension actuators are similarly provided with mounting elements in the form of a centrally apertured rigid disk 38' having an. inwardly extending threaded lug 44. These mounting lugs 44 each have bores 45 defining a passageway for gas which communicates with the interior of the respective tension actuators 36 for inflation and deflation of the actuator. There may be sealing means 39 (FIGS. 3and 4) associated with the threaded lugs 44.

Each of the radial propulsion stages 34 and 35 further includes offset eccentric connecting drive means 46 which comprise a distributor hub 48, shown in detail in FIG. 7, rotatably mounted in a collector ring or rotor 50 (as seen most clearly in FIGS. 2, 3 and 4). The distributor hub 48 (Please see FIG. 7) is .provided with an eccentric axial bore 52, an inlet valving slot or region 54, and an outlet valving slot or region 55. These valving slots 54 and 55 eachcommunicate with the eccentric'bore 52. They are located onopposite sides of the center of the cylindrical distributor hub 48 with a narother words, the phase differential is 360 divided by N, where N is the number of stages or radial banks of the tension actuators.

Sealing sleeves 70, shown in detail in FIG. 7, which may be made of polytetrafluoroethylene, e.g. Teflon", graphitized bronze, or similar durable slippery material, may be provided between the distributor hubs 48 and the collector rings 50 to seal the valving slots 54 and 55 from each other and also to prevent the pressurized gas passing between the valving slots 54 and the collector ring gas passageways 64, from leaking out of the eccentric drive assembly 46.

The rotary motor has a pressurized gas distribution and exhaust system, a portion of which is provided by the eccentric drive assemblie 46 as shown in FIG. 1.

The gas distribution and exhaust system includes ahollow cylindrical feed housing 72 secured by bolts 73 to the rear end plate 18. .The housing 72 has an open mouth 74 at its front end with a closed rear end wall 76 and an inlet port 78 (FIG. 6) and an outlet port 80 (FIG. 5). There is a spool-shaped feed hub 82 (FIG. 1)

- an inlet annular chamber 88 and an outlet annular row segment 57 of the hub between them forming a partition which separates the two valving slots 54 and 55. FIGS. 3 and 4 also show thepartition 57 between the two valving slots 54 and 55. The collector ring has a'central bore 58 and two'annular seats 60 in opposite sides of the ring 50 adjacent to the central bore 58. Antifriction bearings 62 are placed in each of these annular seats to facilitate free rotation of the distributor hub 48 within the collector ring 50.

Each collector ring'50 is provided with ten symmetrically disposed and uniformly spaced radial gas passageways 64 (FIGS. 3 and 4) having threaded bores which communicate with the central collector ring bore 58 and which accept the hollow mounting lugs 44 on each of the tension actuators 36. r

Each of the distributor hubs 48 is securely mounted on the hollow shaft 26, with this shaft passing through the eccentric axial bore 52 of the hub 48, by means of keys 66, which fit into the respective hub keyways 56 (FIGS. 3 and 4) and axially spaced shaft keyways 68 and 69 (see also FIG. 1 The shaft keyways 68 and 69 are positioned on opposite sides of the hollow shaft 26 so that when mounted, the distributor hubs 48 are angularly out of phase with respect to each other. In this embodiment there are two radial propulsion stages 34 and 35, and so-thetwo distributor hubs'48 are mounted 180 out of phase with respect to each other. When three of these stages are included the three distributor hubs are mounted 120 out of phase, and for four stages they-are mounted outof phase, and so forth. In

chamber 90 respectively. Sealing sleeves 92, also made of durable slippery material, for example, of PTFE, e.g. Teflon, or graphitized bronze may be provided between the interior of the feed housing 72 and the circumferen tially projecting rim portions 84 of the feed hub 82. The feed housing 72, inlet and'outlet ports, 78 and 80 respectively, and'the feed hub 82 constitute a feed inlet and exhaust port means.

The feed hub 82 has a central axial bore 94 which tightly receives one end of the hollow shaft 26. Mountingdowel pins 96 (FIGS. 5 and 6) are positioned in corresponding'holes in the feed hub 82 and the shaft 26 to prevent relative disengagement of the hub and shaft.

' As shown in'FIG. l, the opposite ends of the bore 97' inthe hollow shaft26 are sealed by plugs 98 held by dowel pins 99.

A separator strip 100 extends throughout the length of the axial bore 97 in the shaft 26 to divide this bore into an inlet conduit 102 and an outlet conduit 104. The plugs 98 (FIG. '1) fitted into the ends of the bore of the shaft 26 seal the inlet and outlet conduits 102 and 104, and a sealing gasket 106 of resilient material such as rubber positioned between each end of the sep: arator strip 100 and the end plugs 98 completes the sealing of the ends of the conduits 102 and 104. The

separator strip 100 is press fitted into the bore 97 to be firmlyseated in position and to provide a gas tight seal between the two gas conduit passageways 102 and 104.

Two inlet holes 108, shown in FIG. 6, are drilled through .the channel portion 86 of the feed hub 82 and through the shaft 26 to provide communication be tween the inlet annular chamber 88 and the shaft inlet conduit 102. Similarly,-as shown in FIG. .5, two exhaust holes 110 are drilled through the channel portion 87 of the feed hub 82 and through the shaft 26 to provide communication between the outlet annular chamber 90 and the shaft outlet conduit 104.

Two pressurized gas supply distribution holes 112,

shown in FIGS. 3 and 4, are drilled in the shaft 26 so that the shaft inlet conduit 102 communicates with the inlet valving slot 54 in each of the two distributor hubs 48. Similarly, two exhaust holes 114 are drilled in the shaft 26 so that the shaft outlet conduit 104 communicates with the outlet valving slot 55 in each distributor hub.

The hollow shaft 26 divided by the separator strip 100 and the holes 108, 110, 112, and 114 constitute an intermediate conducting means.

The operation of the radial configuration, tension actuated, pressurized gas driven rotary motor will be described with reference to FIGS. 1 through 7. For

.convenience of explanation the tension actuators 36in each radial propulsion stage or bank 34 and 35 have been denoted A through], where tension actuators in each propulsion stage, at similar phases of inflation or deflation, are denoted by corresponding letters. Gas flow into (supply) and out of (return) the apparatus is shown by arrows designated S and R respectively.

Pressurized gas, preferably compressed air from a supply source such as a compressor (not shown), is fed into the feed housing inlet port 78 (FIG. 6) where it enters the feed hub inlet chamber 88, passes through the inlet holes 108 into the shaft inlet conduit 102 (See also FIG. 1), and thence out through the distribution holes 112 (FIGS. 3 and 4) into the inlet valving slots 54. The compressed gas supply then passes through the respective radial passageways 64 in the collector ring which are in communication with the inlet valving slots, and

through the hollow lugs 44 into the tension actuators 36 in each propulsion stage 34 and 35.

In FIGS. 3 and 4 those passageways 64 which are in communication with the inlet valving slots 54 are associated with actuators B, C, D, and E. The resulting flow of pressurized gas into the actuators B, C, D, and E causes them progressively to inflate and therefore to contract and thus exert a tension force between the collector rings 50 and the motor support housing 12. Since the shaft 26 is eccentrically located in the distributor hubs 48 with respect to the collector rings 50, the tension forces exerted by actuators B, C, D and E produce a torque T which causes the shaft 26 and the distributor hubs 48 to rotate within the collector rings 50 in a counterclockwise direction as seen in FIGS. 2, 3, and

Actuators A are shown in the fully inflated state and actuators F are shown in the fully deflated state, and neither exerts a torque on the shaft 26 or distributor hubs 48.

As rotation continues, the inlet valving slots 54 come into communication with actuators F which then begin to inflate, exerting a continuing torque to continue rotation. Simultaneously, actuators A come into communication with the outlet valving slots 55 where they begin to deflate, thus relieving the tension which they formerly were exerting. The gas being returned R from the deflating actuators is then exhausted through exhaust openings 114 (FIGS. 3 and 4) into the shaft outlet conduit 104 (See also FIG. 1) thence to the outlet holes 110, (FIG. 5) into the feed hub outlet chamber 90 and is discharged out through the outlet port 80.

As rotation continues, actuators G are next to begin to be inflated and actuators B" are next to be deflated. Each actuator is sequentially inflated and subsequently sequentially deflated in successive cycles so that a continuous flow of the supply (S) of pressurized gas results in a continuous torque being applied to the distributor hubs 48 and to the shaft 26 to effect continuous rotations.

The direction of rotation is reversed by connecting the supply S to the port and the return R to the port 78, which reverses all directions of flow within the motor.

Power output from the motor 10 is obtained by mounting the housing plate 14 to a fixed frame (not shown) and by connecting the equipment to be driven to the projecting end of the shaft 26. As shown in FIG. 1 there is a keyway 16 at the end of the shaft 26 to facilitate connection to the equipment to ,be driven.

Although the motor 10 has been described as operating with the housing 12 stationary'and the shaft 26 rotating, this operation can be inverted. For example, in order to drive a pulley or a wheel or gear the shaft 26 can be affixed to a frame or chassis, and the housing 12 can be directly attached to the pulley, wheel or gear to be rotated with respect to the frame or chassis. In this latter mode of operation in which the housing 12 rotates, the feed housing 72 is disconnected from the rear end plate 18 by removing the screws 73, and a bearing washer is inserted between the rim 118 (FIG. 1) of the feed housing 72 and the outer surface of the plate 18.

Thus, the feed housing 72, shaft 26 and hubs 48 remain stationary, while the main housing 12 rotates around the shaft 26. I

Alternatively, in the mode of operation in which the shaft 26 is stationary, the feed housing 72 (FIG. 1) and feed hub 82 can be omitted and the pressurized gas supply can be fed directly into the end of the conduit 102. This feeding of the gas supply intothe conduit 102 can be accomplished by using the inlet openings 108 (FIG. 6), with the return gas flow discharging through the openings 110 (FIG. 5).

' FIGS. 8 through 12 illustrate a second preferred embodiment of the present invention, namely the axial configuration tension actuated, pressurized gas driven rotary motor 210, which includes a motor support housing 212 (FIG. 8) which forms the motor frame. This frame 212 includes an end cap 14, a cylindrical wall body 216, a rear end plate 218 and a swash bearing housing 220. The swash bearing housing 220 is provided with an annular rabbet 222 which engages the front edge of the cylindrical wall body 216. The front end cap 214 includes a cylindrical side wall 224 and a front end wall 226, the cylindrical side wall 224 having an internal annular rabbet 228 which receives both the swash bearing housing 220 and the cylindrical wall body 216.

The front end cap 214 (FIG. 8), the swash bearing housing 220 and the cylindrical wall body 216 are fastened together by machine screws 230, which are countersunk in the front end cap 214, thus enclosing an actuator chamber 221. The rear end plate 218 has an annular rabbet 232 which receives the rear edge of the cylindrical wall body 216 and is similarly secured to the cylindrical wall body 216 by machine screws 234.

As shown in FIG. 8, a shaft 238 is rotatably mounted between the front end cap 214 and the rear end plate 218 in the motor support housing 212. Antifriction bearings 240 and 241 positioned by annular recesses 242, 244 in the front end cap 214 and. the rear end plate 218, respectively, are provided to facilitate free rotation of the shaft. A bearing race retainer 246 is fixed to the rear end of the shaft 238 by a screw 248, and engages the inner race of the antifriction and thrust bearing 241 mounted in the rear end plate 218, to prevent the shaft from moving axially to the right (front) as seen in FIG. 8.

The drive assembly employed by this rotary motor 210 includes a disk rotor 250 (FIG. 8) and offset connecting drive means 251 including an offset swash plate and bearing holding member 264 mounted on a swash bearing 260 which is mounted, in turn, in the swash bearing housing 220.

As shown in FIGS. 8 and 10, the disk rotor 250 is secured onto the shaft 238, within the actuator chamber 221 by a dowel pin 252 in across bore 253. The rotor 250 is provided with six axially extending threaded passageways 254 uniformly circumferentially spaced with respect to the disk axis.

The swash bearing housing 220 is provided with an internal bore 256 (FIG. 8), the axis of which is offset by being inclined or canted with respect to the axis of the shaft 238. An interior annular rabbet or socket 258 is formed in this inclined bore 256 so that its axis is similarly offset, inclined or canted with respect to the axis of the shaft 238. A swash bearing 260, having an inner race 262, is positioned in this canted socket 258. A swash plate and bearing holding member 264 is mounted in the inner swash bearing race 262, positioned by a spacer sleeve 266 and secured by a retaining collar 268. The orientation of the inclined socket 258 in the swash bearing housing 220 and the consequent orientation of the swash bearing 260 constrains the swash plate and bearing holding member 264 to rotate, with respect to the motor support, in a plane oriented obliquely relative to the axis of the shaft 238. The swash plate and bearing holding member 264 has a central opening 278 therethrough large enough to provide clearance to permit free rotation without interference with the rotating shaft 238. I

The swash plate and bearing holding member 264 has passageways 254 in it, the rear end plate 218 having an inlet port 293 (FIG. 9) for supply (S) of the pressurized gas communicating with a semi-circular distribution channel or inlet valving region 294, and a semi-circular exhaust channel or outlet valving region 296 communicating with an outlet'discharge port 298. The supply distribution channel 294 and the exhaust channel 296 are machined into the interior face of the rear end plate 218 and have a radius equal to the distance between the center of the disk rotor 250 and the axial passageways 254. A sealing washer 300 (FIG. 8) made of Teflon or other suitable slippery material, and having semicircular, arcuate slots coincident with the distribution an actuator mounting flange 280 (FIGS. 8 and 11) extending radially outwardly which has six radial symmetrically positioned slots 282. The flange 280 also has a circular groove 284, concentric with the central opening 278, which intersects each of the radial slots 282.

A plurality, inthis instance six pressurized gas responsive tensionactuators '36 are linked between the rotor 250and the swash plate and bearing holding member 264 in the drive assembly. One end of each tension actuator 36 is provided with a hollow, threaded lug 44 (FIG. 8) the interior bore 45 of which communicates with the interior of the respective tension actuator. Each of the six axial threaded passageways 254 disposed in the. disk rotor 250 accepts a respective one of the hollow threaded lugs 44. I

The other end of each tension actuator 36 is provided with a T-shaped hook retainer 290. The opposing arms 292 (FIG. 11) of the T-shaped retainer 290 are gener ally of frustro-conical shape. Each of the actuators 36 is linked to the swash plate and bearing holding member 264 by placing the shank portion of each T-hook retainer 290 in a respective radial slot 282 so that the opposing frustro-conical T-arms 292 are seated in the circular groove 284. This linkage arrangement pennits the azimum angle at which the actuators 36 relatively engage the flange 280 of member264 to vary as the drive assembly rotates.

The pressurized gas distribution and exhaust system includes, in addition to the disk rotor 250 and the axial of the system are designated by arrows labeled S (for supply) and R (for return) respectively. Pressurized gas, preferably compressed air, is fed from a suitable source such as a compressor (not shown) into the inlet port 293, (FIG. 9.) through the distribution channel 294, into the axial passageways 254 and through the hollow lugs 44 into the actuators E and F (FIG. 12) causing these two actuators to be inflated.

This inflation of actuators E and F creates a tension force between one side (the left side as seen in FIGS.

10, 11 and 12) of the disk rotor 250 and the corresponding side of the swash plate and bearing holding member 264, which creates a torque causing both the rotor 250 and the member 264 to rotate in a counterclockwise direction as shown by the arrows T inFIGS. 10, I1 and 12. Actuator A is shown in a fully inflated state and actuator D is shown in a fully deflated state,

because they are momentarily between channels 294 and 296.

As rotation continues, the axial passage 254 leading into with actuator D comes into communication with the distribution channel 294, thereby causing actuator D to begin to be inflated and similarly exert a tension force. Simultaneously, the axial passageway 254 lead-- ing into actuator A comes into communication with the exhaust channel 296 thereby causing actuator A to begin to be deflated and it ceases to exert any significant tension force. Gas from actuator A is exhausted through the hollow lug 44 and through the axial passageway 254, into the exhaust channel 296 and out of the outlet discharge port 298, (FIG. 9) and so forth in successive cycles of operation.

The operation continues as long as pressurized gas is supplied into the inlet port 293.

The distribution channel 294 is disposed relative to disk rotor 250 so that inflation of the actuators always ,begins with an actuator which spans the distance be- Rotation occurs because the oblique orientation of the swash plate member 264 causes the tension force produced by axial contraction of the respective actuators to be converted into a torque component T. By virtue of the fact that the swash plate member 264 is constrained to rotate in the oblique plane, the tension force produced by the respective actuators cannot pull the top edge of the disk rotor 250 and the top edge of the swash plate 264 (as illustrated in FIG. 8) closer together, and hence only a rotational component of force, namely torque is provided as useful output to produce continuous rotation. The output power from the motor 210 can be taken from the shaft 238. There is a keyway 302 (FIG. 8) at the end of the shaft 238 for convenience in connection to the equipment to be driven.

The direction of rotation is reversed "by connecting the supply S to the port 298 and the return R to the port 293, which reverses all directions of flow within the means to rotate said shaft and frame means relative to each other, said distributor means comprising a collector ring member having a central axial bore, and plurality of radial fluid passageways disposed therein, said tension actuators being fixedly attached to said collector ring member with each of said radial passageways communicating with one of said tension actuators, and distributor hub member, rotatably disposed with respect to said central axial bore of said collector ring member, having valving inlet and exhaust passages communicating with said inlet and exhaust intermediate fluid conducting means, respectively, for successively communicating with and distributing pressurized fluid from said inlet intermediate fluid conducting means to each of said tension actuators through said valving inlet passage, and for subsequently, successively communicating with and exhausting pressurized fluid from each of said tension actuators to said exhaust intermediate fluid conducting means through said valving exhaust passage, upon rotation of said distributor hub relative to said collector ring member. 2. A tension actuated, pressurized fluid driven rotary motor for converting linear contraction fluid actuated nected directly to stationary mounting means associated with the housing and their passageways 45 are supplied with pressurized gas through radial distributions passages (not shown) from supply and return shaft conduits similar to those shown in FIG. 1.

The amount of offset of the respective drive assemblies 46 and 251, i.e. the amount of eccentricity of the drive means 46 and the amount of inclination of the drive means 251, is made to be compatible with the stroke of the tension actuators 36.

Although specific embodiments of the invention have been disclosed in detail herein, it is to be understood that these are for purposes of illustration. This disclosure should not be construed as limiting the scope of the invention, since changes may be made in the described structures by those skilled in the art in order to adapt these motors to particular applications without departing from the scope of the following claims.

What is claimed is:

l. A tension actuated, pressurized fluid driven rotary motor for producing continuous rotary motion comprising:

motor frame means, a shaft mounted for rotation relative to said frame means,

a plurality of pressurized fluid driven tension actuators, longitudinally contractible upon inflation with pressurized fluid,

means for mounting said tension actuators about the axis of said shaft,

connecting drive means for linking said tension actu ators to said shaft with the axis of said connecting drive means offset with respect to the longitudinal axis of said shaft,

fluid distribution inlet and exhaust means including inlet and exhaust port means, inlet and exhaust intermediate fluid conducting means, and distributor means for sequentially distributing pressurized fluid to and exhausting fluid from each of said tension actuators to cyclically inflate and deflate each of said tension actuators for applying contraction tension forces to said offset connecting drive force into rotary motion comprising:

motor support means,

a rotatable shaft member mounted for rotation relative to said support means,

a plurality of fluid driven tension actuators axially contractible upon fluid actuation,

me ansfor mounting said tension actuators about the axis of said shaft member with the axes of said tension actuators extending radially outwardly from said shaft member,

eccentric drive means, to which said tension actuators are fixedly attached, mounted eccentrically in encompassing relation about said shaft member,

fluid distribution inlet and exhaust means for successively distributing pressurized fluid to and exhausting fluid from each of said tension actuators to successively actuate each of said tension actuators and create a circulating linear contraction force imbalance, which acts upon said eccentric drive means to rotate said shaft member,

said eccentric drive means including an annular collector member having a central axial bore disposed therein, said tension actuators being fixedly coupled to said collector member, and

an eccentric hub member, rotatably disposed in said central axial bore of said collector member, having an eccentric axial bore therethrough, said shaft member being fixedly disposed in said eccentric axial bore.

3. A tension actuated, pressurized fluid driven rotary motor for converting linear contraction, fluid actuated force into rotary motion comprising:

motor support means a rotatable shaft member mounted for rotation relative to said support means a plurality of fluid driven tension actuators, axially contractible upon fluid actuation,

means for mounting said tension actuators about the axis of said shaft member with the axes of said tension actuators extending axially with respect to said shaft member,

swash plate drive means, to which said tension actuators are attached, mounted with the axis of said swash plate drive means canted to the axis of said shaft member,

fluid distribution inlet and exhaust means for distributing pressurized fluid successively to and subsequently exhausting pressurized fluid successively from each of said tension actuators and create a circulating linear contraction force imbalance which acts upon said eccentric drive means to rotate said shaft member.

4. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 3 in which said swash plate drive means comprises:

a swash plate housing mountingin said motor support means,

a swash plate rotatably mounted in said swash plate housing with the axis of rotation of said swash plate antiparallel to theaxis of said shaft, said tension actuators being attached to said swash plate.

5. The tension actuated, pressurized fluid drivenrotary motor as claimed in claim 4 in which said swash plate is provided with a plurality of radial slots and a circular groove and said tension actuators are provided with attachment hooks, each of said attachment hooks being disposed in one of said radial slots and hooked in said circular groove.

6. A tension actuated, pressurized gas driven rotary motor for producing continuous rotary motion comprising:

motor frame means,

a shaft mounted for rotation relative to said frame means, I

a plurality of pressurized gas driven tension actuators, longitudinally contractible upon inflation with pressurized gas,

means for mounting said tension actuators about the axis of said shaft,

connecting drive means linking said tension actuators to said shaft and being mounted with the axis of said connecting drive means offsetwith respect to the longitudinal axis of said shaft,

gas distribution and exhaust means for successively and cyclically inflating and deflating each of said tension actuators for producing tension forces acting upon said offset connecting drive means to thereby produce relative rotation between said shaft and said frame means,

said connecting drive means including at least one distributor hub affixed to the shaft and having a circular periphery which is offset eccentrically with respect to the shaft, a collector ring encircling the periphery of the distributor hub, the collector ring and distributor hub being relatively rotatable, and the collector ring having a plurality of passageways extending therethrough, said tension actuators each having one end connected to said collector ring with the interiors of respective ones of the actuators communicating with respective passage-r ways in the collectorring,

said mounting means attaching the other ends of said actuators to the motor frame means with the longitudinal axis of each actuator extending outwardly from said collector ring,

said gas distribution and exhaust means including an inlet valving region formed in one side of said distributor hub and an outlet valving region formed in the opposite side of said distributor hub,

sealing means associated with the collector ring and distributor hub for preventing gas and leakage,

said inlet and outlet valving regions sequentially communicating with said passageways in said collector ring as the ring and hub are in relative rotation for cyclicallyinflating and deflating said tension actuators for producing relative rotation between said shaft and motor frame means.

7. The tension actuated, pressurized gas driven rotary motor as claimed in claim 6, in which said shaft is hollow and contains an inlet conduit and an outlet conduit each extending longitudinally therein, said inlet conduit communicating with the inlet valving region in at least one distributor hub and said outlet conduit communicating with the outlet valving region in at least one distributor hub for supplying pressurized gas through said inlet conduit to said inlet valving region and for returning gas from said outlet valving region to said outlet conduit. Y I

8; The tension actuated, pressurized gas driven rotary motor as claimed in claim 7 in which gas feed means are associated with said hollow shaft for permitting rotation of the shaft while supplying pressurized gas from a stationary external source into said inlet conduit and while returning gas from saidoutlet conduit.

9. A tension actuated, pressurized gas driven rotary motor for producing continuous rotary motion comprising:

motor frame means,

a shaft mounted for continuous rotary motion relative to said frame means,

a plurality of pressurized gas driven tension actuators, longitudinally contractible upon inflation with pressurized gas,

said tension actuators being positioned about the axis of said shaft with'the longitudinal axes of said tension actuators extending outwardly with respectto said shaft,

means for securing the outer end of each of said tension actuators to said motor frame means, connecting drive means linking the inner end of each of said tension actuators to said shaft said connecting drive means including a hub member fixed to said shaft,'an annular member rotatably mounted with respect to said hub member for continuous rotary motion relative'to said hub member about an axis of relative rotation offset from the longitudinal axis of said shaft, and means for securing the inner end of each of said tension actuators to said annular member, and

gas distribution and exhaust means for successively and cyclically inflating and deflating each of said A tension actuators for producing tension forces acting upon said annular member offset from said shaft to thereby produce relative rotation between said shaft and said frame means.

10. The tension actuated, pressurized gas driven rotary motor as claimed in claim 9 in which said offset connecting drive means includes bearing means having its axis of rotation canted with respect to the axis of the shaft,a swash member mounted by said bearing means for rotation about said canted axis, said tension actuators each having one end linked to said swash member, a rotor affixed to said shaft and spaced from said swash member, said tension actuators extending from said swash member to said rotor and having their other ends connected to said rotor, said rotor including a plurality of passageways therein communicating with the interiors of respective ones of said actuators, and gas distribution and exhaust means defining an inlet valving region and an outlet valving region adjacent to said rotor, said passageways sequentially communicating with said inlet and outlet valving regions as said rotor rotates rel ative to said gas distribution and exhaust means for cyclically inflating and deflating said tension actuator for producing rotation of said shaft;

11. The tension actuated, pressurized gas driven rotary motor as claimed in'claim 9 wherein said plurality of tension actuators are mounted by said actuator mounting means with the axes of said tension actuators extending in an axial direction relative to the longitudinal axis of said shaft.

12. The tension actuated, pressurized gas driven r0- tary motor as claimed in claim 11, in which said connecting drive means is offset with its axis of rotation canted relative to the longitudinal axis of the shaft.

13. The tension actuated, pressurized gas driven rotary motor as claimed in claim 1, in which said plurality of outwardly extending tension actuators and said hub member and offset annular member comprise at least one radial propulsion stage.

14. A tension actuated, pressurized gas driven rotary motor as claimed in claim 13 wherein a plurality of said radial propulsion stages are linked to said shaft at different axial locations along said shaft.

15. The tension actuated, pressurized gas driven rotary motor as claimed in claim 4, wherein the offset axis of the annular member in each of said radial propulsion stages is angularly displaced in phase about the longitudinal axis of said shaft with respect to the offset axis of the annular members in other radial propulsion stages by angular phase differences of 360/N. in which N is the number of stages.

16. A tension actuated, pressurized fluid driven rotary motor for producing continuous rotary motion I axis of said shaft member, said mounting means including means for connecting the outer ends of said tension actuators to said motor frame means,

a hub mounted on said shaft member having a circular surface eccentric with respect to the axis of said shaft member,

an annular member mounted on said eccentric surface,

said mounting means including means for connecting the inner ends of said tension actuators to said annular member, and

fluid distribution inlet and exhaust means for sequentially distributing pressurized fluid to and exhausting fluid from each of said tension actuators to cyclically inflate and deflateeach of said tension actuators for applying contraction tension forces to said annular member to rotate said shaft and frame means relative to each other. i 17. The tension actuated, pressurized fluid driven ro tary motor as claimed in claim 16 in which said fluid 5 distribution inlet and exhaust means comprises:

feed inlet and exhaust port means, intermediate fluid conducting means, and distributor means for distributing pressurized fluid successively to and exhausting pressurized fluid 0 successively from each of said tension actuators.

18. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 17 in which said feed inlet and exhaust port means comprises:

a cylindrical feed housing having an inlet port and exhaust port disposed therein,

a cylindrical feed hub member, rotatably positioned within said cylindrical feed housing and having a plurality of axially spaced protruding rim portions defining an annular inlet channel and annular exhaust channel between respective rim portions said inlet port being disposed in said cylindrical feed housing to communicate with said annular inlet channel and said exhaust port being disposed in said cylindrical feed housing to communicate with said annular exhaust channel.

19. The tension actuated, pressurized fluid driven motor as claimed in claim 17 in which said intermediate fluid conducting means comprises:

said shaft member having internal axially extending inlet and outlet conduits,

inlet aperture means in said shaftmember providing communication between said feed inlet port means and said axial inlet conduit,

exhaust aperture means in said shaft member providing communication between said feed exhaust port means and said axial outlet conduit, and

distribution aperture means in said shaft member communicating between said axial inlet conduit and said distributor means and communicating between said axial outlet conduit and said distributor means.

20. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 17 in which said plurality of tension actuators are mounted on said actuator mount means with the axis of said tension extending from said connecting drive means in an axial direction relative to said shaft member.

21. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 20, in which said feed inlet and exhaust port means comprises:

a feed plate, forming the rear end wall of said motor support means, having an inlet orifice and an outlet orifice disposed therein.

22. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 21 in which said intermediate fluid conducting means comprises:

a semicircular inlet distribution channel, in fluid communication with said inlet orifice, disposed on the interior face of said feed plate,

a semicircular exhaust channel, in fluid communication with said inlet orifice, similarly disposed on the interior face of said feed plate.

23. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 22 in which said distributor means comprises:

a rotor, fixedly attached to said shaft member tobe rotated therewith, disposed adjacent to said feed and said semicircular exhaust channel for successively distributing pressurized fluid to each of said axial fluid passageways and each of said tension actuators through said inlet distribution'channel, and for subsequently successively exhausting pressurized fluid from said tension actuators and said axial fluid passages upon rotary of said rotor relative to said feed plate. 

1. A tension actuated, pressurized fluid driven rotary motor for producing continuous rotary motion comprising: motor frame means, a shaft mounted for rotation relative to said frame means, a plurality of pressurized fluid driven tension actuators, longitudinally contractible upon inflation with pressurized fluid, means for mounting said tension actuators about the axis of said shaft, connecting drive means for linking said tension actuators to said shaft with the axis of said connecting drive means offset with respect to the longitudinal axis of said shaft, fluid distribution inlet and exhaust means including inlet and exhaust port means, inlet and exhaust intermediate fluid conducting means, and distributor means for sequentially distributing pressurized fluid to and exhausting fluid from each of said tension actuators to cyclically inflate and deflate each of said tension actuators for applying contraction tension forces to said offset connecting drive means to rotate said shaft and frame means relative to each other, said distributor means comprising a collector ring member having a central axial bore, and plurality of radial fluid passageways disposed therein, said tension actuators being fixedly attached to said collector ring member with each of said radial passageways communicating with one of said tension actuators, and a distributor hub member, rotatably disposed with respect to said central axial bore of said collector ring member, having valving inlet and exhaust passages communicating with said inlet and exhaust intermediate fluid conducting means, respectively, for successively communicating with and distributing pressurized fluid from said inlet intermediate fluid conducting means to each of said tension actuators through said valving inlet passage, and for subsequently, successively communicating with and exhausting pressurized fluid from each of said tension actuators to said exhaust intermediate fluid conducting means through said valving exhaust passage, upon rotation of said distributor hub relative to said collector ring member.
 2. A tension actuated, pressurized fluid driven rotary motor for converting linear contraction fluid actuated force into rotary motion comprising: motor support means, a rotatable shaft member mounted for rotation relative to said support means, a plurality of fluid driven tension actuators axially contractible upon fluid actuation, means for mounting said tension actuators about the axis of said shaft member with the axes of said tension actuators extending radially outwardly from said shaft member, eccentric drive means, to which said tension actuators are fixedly attached, mounted eccentrically in encompassing relation about said shaft member, fluid distribution inlet and exhaust means for successively distributing pressurized fluid to and exhausting fluid from each of said tension actuators to successively actuate each of said tension actuators and create a circulating linear contraction force imbalance, which acts upon said eccentric drive means to rotate said shaft member, said eccentric drive means including an annular collector member having a central axial bore disposed therein, said tension actuators being fixedly coupled to said collector member, and an eccentric hub member, rotatably disposed in said central axial bore of said collector member, having an eccentric axial bore therethrough, said shaft member being fixedly disposed in said eccentric axial bore.
 3. A tension actuated, pressurized fluid driven rotary motor for converting linear contraction, fluid actuated force into rotary motion comprising: motor support means a rotatable shaft member mounted for rotation relative to said support means a plurality of fluid driven tension actuators, axially contractible upon fluid actuation, means for mounting said tension actuators about the axis of said shaft member with the axes of said tension actuators extending axially with respect to said shaft member, swash plate drive means, to which said tension actuators are attached, mounted with the axis of said swash plate drive means canted to the axis of said shaft member, fluid distribution inlet and exhaust means for distributing pressurized fluid successively to and subsequently exhausting pressurized fluid successively from each of said tension actuators and create a circulating linear contraction force imbalance which acts upon said eccentric drive means to rotate said shaft member.
 4. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 3 in which said swash plate drive means comprises: a swash plate housing mounting in said motor support means, a swash plate rotatably mounted in said swash plate housing with the axis of rotation of said swash plate antiparallel to the axis of said shaft, said tension actuators being attached to said swash plate.
 5. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 4 in which said swash plate is provided with a plurality of radial slots and a circular groove and said tension actuators are provided with attachment hooks, each of said attachment hooks being disposed in one of said radial slots and hooked in said circular groove.
 6. A tension actuated, pressurized gas driven rotary motor for producing continuous rotary motion comprising: motor frame means, a shaft mounted for rotation relative to said frame means, a plurality of pressurized gas driven tension actuators, longitudinally contractible upon inflation with pressurized gas, means for mounting said tension actuators about the axis of said shaft, connecting drive means linking said tension actuators to said shaft and being mounted with the axis of said connecting drive means offset with respect to the longitudinal axis of Said shaft, gas distribution and exhaust means for successively and cyclically inflating and deflating each of said tension actuators for producing tension forces acting upon said offset connecting drive means to thereby produce relative rotation between said shaft and said frame means, said connecting drive means including at least one distributor hub affixed to the shaft and having a circular periphery which is offset eccentrically with respect to the shaft, a collector ring encircling the periphery of the distributor hub, the collector ring and distributor hub being relatively rotatable, and the collector ring having a plurality of passageways extending therethrough, said tension actuators each having one end connected to said collector ring with the interiors of respective ones of the actuators communicating with respective passageways in the collector ring, said mounting means attaching the other ends of said actuators to the motor frame means with the longitudinal axis of each actuator extending outwardly from said collector ring, said gas distribution and exhaust means including an inlet valving region formed in one side of said distributor hub and an outlet valving region formed in the opposite side of said distributor hub, sealing means associated with the collector ring and distributor hub for preventing gas and leakage, said inlet and outlet valving regions sequentially communicating with said passageways in said collector ring as the ring and hub are in relative rotation for cyclically inflating and deflating said tension actuators for producing relative rotation between said shaft and motor frame means.
 7. The tension actuated, pressurized gas driven rotary motor as claimed in claim 6, in which said shaft is hollow and contains an inlet conduit and an outlet conduit each extending longitudinally therein, said inlet conduit communicating with the inlet valving region in at least one distributor hub and said outlet conduit communicating with the outlet valving region in at least one distributor hub for supplying pressurized gas through said inlet conduit to said inlet valving region and for returning gas from said outlet valving region to said outlet conduit.
 8. The tension actuated, pressurized gas driven rotary motor as claimed in claim 7 in which gas feed means are associated with said hollow shaft for permitting rotation of the shaft while supplying pressurized gas from a stationary external source into said inlet conduit and while returning gas from said outlet conduit.
 9. A tension actuated, pressurized gas driven rotary motor for producing continuous rotary motion comprising: motor frame means, a shaft mounted for continuous rotary motion relative to said frame means, a plurality of pressurized gas driven tension actuators, longitudinally contractible upon inflation with pressurized gas, said tension actuators being positioned about the axis of said shaft with the longitudinal axes of said tension actuators extending outwardly with respect to said shaft, means for securing the outer end of each of said tension actuators to said motor frame means, connecting drive means linking the inner end of each of said tension actuators to said shaft said connecting drive means including a hub member fixed to said shaft, an annular member rotatably mounted with respect to said hub member for continuous rotary motion relative to said hub member about an axis of relative rotation offset from the longitudinal axis of said shaft, and means for securing the inner end of each of said tension actuators to said annular member, and gas distribution and exhaust means for successively and cyclically inflating and deflating each of said tension actuators for producing tension forces acting upon said annular member offset from said shaft to thereby produce relative rotation between said shaft and said frame means.
 10. The tension actuated, pressurized gas driven rotary motor as claImed in claim 9 in which said offset connecting drive means includes bearing means having its axis of rotation canted with respect to the axis of the shaft, a swash member mounted by said bearing means for rotation about said canted axis, said tension actuators each having one end linked to said swash member, a rotor affixed to said shaft and spaced from said swash member, said tension actuators extending from said swash member to said rotor and having their other ends connected to said rotor, said rotor including a plurality of passageways therein communicating with the interiors of respective ones of said actuators, and gas distribution and exhaust means defining an inlet valving region and an outlet valving region adjacent to said rotor, said passageways sequentially communicating with said inlet and outlet valving regions as said rotor rotates relative to said gas distribution and exhaust means for cyclically inflating and deflating said tension actuator for producing rotation of said shaft.
 11. The tension actuated, pressurized gas driven rotary motor as claimed in claim 9 wherein said plurality of tension actuators are mounted by said actuator mounting means with the axes of said tension actuators extending in an axial direction relative to the longitudinal axis of said shaft.
 12. The tension actuated, pressurized gas driven rotary motor as claimed in claim 11, in which said connecting drive means is offset with its axis of rotation canted relative to the longitudinal axis of the shaft.
 13. The tension actuated, pressurized gas driven rotary motor as claimed in claim 1, in which said plurality of outwardly extending tension actuators and said hub member and offset annular member comprise at least one radial propulsion stage.
 14. A tension actuated, pressurized gas driven rotary motor as claimed in claim 13 wherein a plurality of said radial propulsion stages are linked to said shaft at different axial locations along said shaft.
 15. The tension actuated, pressurized gas driven rotary motor as claimed in claim 4, wherein the offset axis of the annular member in each of said radial propulsion stages is angularly displaced in phase about the longitudinal axis of said shaft with respect to the offset axis of the annular members in other radial propulsion stages by angular phase differences of 360*/N. in which N is the number of stages.
 16. A tension actuated, pressurized fluid driven rotary motor for producing continuous rotary motion comprising: motor frame means, a shaft member mounted for rotation relative to said frame means, a plurality of pressurized fluid driven tension actuators, longitudinally contractible upon inflation with pressurized fluid, means for mounting said tension actuators about the axis of said shaft member with the respective tension actuators extending outwardly relative to the axis of said shaft member, said mounting means including means for connecting the outer ends of said tension actuators to said motor frame means, a hub mounted on said shaft member having a circular surface eccentric with respect to the axis of said shaft member, an annular member mounted on said eccentric surface, said mounting means including means for connecting the inner ends of said tension actuators to said annular member, and fluid distribution inlet and exhaust means for sequentially distributing pressurized fluid to and exhausting fluid from each of said tension actuators to cyclically inflate and deflate each of said tension actuators for applying contraction tension forces to said annular member to rotate said shaft and frame means relative to each other.
 17. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 16 in which said fluid distribution inlet and exhaust means comprises: feed inlet and exhaust port means, intermediate fluid conducting means, and distributor means for distributing pressurized fluid successivEly to and exhausting pressurized fluid successively from each of said tension actuators.
 18. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 17 in which said feed inlet and exhaust port means comprises: a cylindrical feed housing having an inlet port and exhaust port disposed therein, a cylindrical feed hub member, rotatably positioned within said cylindrical feed housing and having a plurality of axially spaced protruding rim portions defining an annular inlet channel and annular exhaust channel between respective rim portions said inlet port being disposed in said cylindrical feed housing to communicate with said annular inlet channel and said exhaust port being disposed in said cylindrical feed housing to communicate with said annular exhaust channel.
 19. The tension actuated, pressurized fluid driven motor as claimed in claim 17 in which said intermediate fluid conducting means comprises: said shaft member having internal axially extending inlet and outlet conduits, inlet aperture means in said shaft member providing communication between said feed inlet port means and said axial inlet conduit, exhaust aperture means in said shaft member providing communication between said feed exhaust port means and said axial outlet conduit, and distribution aperture means in said shaft member communicating between said axial inlet conduit and said distributor means and communicating between said axial outlet conduit and said distributor means.
 20. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 17 in which said plurality of tension actuators are mounted on said actuator mount means with the axis of said tension extending from said connecting drive means in an axial direction relative to said shaft member.
 21. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 20, in which said feed inlet and exhaust port means comprises: a feed plate, forming the rear end wall of said motor support means, having an inlet orifice and an outlet orifice disposed therein.
 22. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 21 in which said intermediate fluid conducting means comprises: a semicircular inlet distribution channel, in fluid communication with said inlet orifice, disposed on the interior face of said feed plate, a semicircular exhaust channel, in fluid communication with said inlet orifice, similarly disposed on the interior face of said feed plate.
 23. The tension actuated, pressurized fluid driven rotary motor as claimed in claim 22 in which said distributor means comprises: a rotor, fixedly attached to said shaft member to be rotated therewith, disposed adjacent to said feed plate with the interior face of said feed plate slidably abutting the adjacent face of said rotor, a plurality of axial fluid passageways disposed equidistant from the center of said rotor, said tension actuators being fixedly attached to said rotor with each of said axial fluid passageways communicating with one of said tension actuators, said axial fluid passageways being disposed to communicate with said semicircular inlet distribution channel and said semicircular exhaust channel for successively distributing pressurized fluid to each of said axial fluid passageways and each of said tension actuators through said inlet distribution channel, and for subsequently successively exhausting pressurized fluid from said tension actuators and said axial fluid passages upon rotary of said rotor relative to said feed plate. 